int g_map[5][7] = {
    {0, 0, 0, 1, 0, 0, 0},
    {1, 1, 0, 1, 0, 0, 0},
    {0, 0, 0, 0, 0, 1, 0},
    {0, 1, 0, 1, 1, 0, 1},
    {0, 1, 0, 0, 0, 0, 1},
};

typedef struct {
    int x;
    int y;
} Robot;

typedef struct {
    int x;
    int y;
} Node;

#define ROW 5
#define COL 7